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Commitd834f7a

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Merge pull request#905 from murrayrm/simdocs-04Jun2023
add/cleanup documentation on simulation functions
2 parents3435304 +f0a34df commitd834f7a

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‎control/__init__.py

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Available subpackages
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---------------------
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flatsys
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Differentially flat systems
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optimal
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Optimization-based control
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The main control package includes the most commpon functions used in
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analysis, design, and simulation of feedback control systems. Several
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additional subpackages are available that provide more specialized
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functionality:
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* :mod:`~control.flatsys`: Differentially flat systems
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* :mod:`~control.matlab`: MATLAB compatibility module
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* :mod:`~control.optimal`: Optimization-based control
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"""
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‎control/flatsys/systraj.py

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from ..timerespimportTimeResponseData
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classSystemTrajectory:
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"""Class representing asystemtrajectory.
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"""Class representing a trajectory for a flat system.
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The `SystemTrajectory` class is used to represent the
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trajectory of a (differentially flat) system. Used by the

‎control/iosys.py

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start with zero initial condition since this can be specified as
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[xsys_0, 0]. A warning is issued if the initial conditions are padded
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and and the final listed initial state is not zero.
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2. If discontinuous inputs are given, the underlying SciPy numerical
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integration algorithms can sometimes produce erroneous results due
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to the default tolerances that are used. The `ivp_method` and
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`ivp_keywords` parameters can be used to tune the ODE solver and
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produce better results. In particular, using 'LSODA' as the
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`ivp_method` or setting the `rtol` parameter to a smaller value
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(e.g. using `ivp_kwargs={'rtol': 1e-4}`) can provide more accurate
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results.
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"""
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#

‎control/optimal.py

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# RMM, 11 Feb 2021
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#
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"""The :mod:`~control.optimal` module provides support for optimization-based
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"""The :mod:`control.optimal` module provides support for optimization-based
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controllers for nonlinear systems with state and input constraints.
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The docstring examples assume that the following import commands::

‎control/timeresp.py

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# Forced response of a linear system
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defforced_response(sys,T=None,U=0.,X0=0.,transpose=False,
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interpolate=False,return_x=None,squeeze=None):
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"""Simulate the output of a linear system.
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"""Compute the output of a linear system given the input.
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As a convenience for parameters `U`, `X0`:
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Numbers (scalars) are converted to constant arrays with the correct shape.
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definitial_response(sys,T=None,X0=0.,input=0,output=None,T_num=None,
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transpose=False,return_x=False,squeeze=None):
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# pylint: disable=W0622
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"""Initialcondition responseof a linear system
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"""Compute the initialcondition responsefor a linear system.
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If the system has multiple outputs (MIMO), optionally, one output
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may be selected. If no selection is made for the output, all

‎doc/classes.rst

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flatsys.SystemTrajectory
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optimal.OptimalControlProblem
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optimal.OptimalControlResult
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optimal.OptimalEstimationProblem
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optimal.OptimalEstimationResult
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The use of these classes is described in more detail in the
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:ref:`flatsys-module` module and the:ref:`optimal-module` module

‎doc/conventions.rst

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Throughout this manual, we assume the `control` package has been
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imported as `ct`.
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LTI system representation
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=========================
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argument or using the explicit conversion functions:func:`ss2tf` and
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:func:`tf2ss`.
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Simulating LTI systems
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======================
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A number of functions are available for computing the output (and
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state) response of an LTI systems:
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..autosummary::
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:toctree: generated/
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:template: custom-class-template.rst
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initial_response
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step_response
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impulse_response
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forced_response
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Each of these functions returns a:class:`TimeResponseData` object
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that contains the data for the time response (described in more detail
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in the next section).
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The:func:`forced_response` system is the most general and allows by
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the zero initial state response to be simulated as well as the
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response from a non-zero intial condition.
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In addition the:func:`input_output_response` function, which handles
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simulation of nonlinear systems and interconnected systems, can be
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used. For an LTI system, results are generally more accurate using
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the LTI simulation functions above. The:func:`input_output_response`
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function is described in more detail in the:ref:`iosys-module` section.
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..currentmodule::control
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.. _time-series-convention:
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Time series data
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================
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----------------
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A variety of functions in the library return time series data: sequences of
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values that change over time. A common set of conventions is used for
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returning such data: columns represent different points in time, rows are
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* freqplot.dB (False): Bode plot magnitude plotted in dB (otherwise powers
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of 10)
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* freqplot.deg (True): Bode plot phase plotted in degrees (otherwise radians)
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* freqplot.Hz (False): Bode plot frequency plotted in Hertz (otherwise
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rad/sec)
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* freqplot.grid (True): Include grids for magnitude and phase plots
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* freqplot.number_of_samples (1000): Number of frequency points in Bode plots
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* freqplot.feature_periphery_decade (1.0): How many decades to include in
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the frequency range on both sides of features (poles, zeros).
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